FeatureSet StringToFeatureSet(const std::string& features_string) {
if (features_string.empty()) {
return FeatureSet();
}
auto names = android::base::Split(features_string,
{kFeatureStringDelimiter});
return FeatureSet(names.begin(), names.end());
}
TemporalCentroid::FeatureSet
TemporalCentroid::process(const float *const *inputBuffers, Vamp::RealTime timestamp)
{
// First we need to compute the RMS
float energy = 0.0f;
size_t i = 0; // note: same type as m_blockSize
while (i < m_blockSize)
{
float sample = inputBuffers[0][i];
energy += sample * sample;
++i;
}
float mean_energy = energy / m_blockSize;
float rms = sqrt(mean_energy);
m_rms.push_back(rms);
m_timestamps.push_back(timestamp);
// cout << timestamp+Vamp::RealTime::fromSeconds(1) << endl; // debugging
//cout << (float)timestamp.nsec/1e9 << endl;
//cout << timestamp << ": " << timestamp.sec + (float)timestamp.nsec/1e9 << endl; // CONVERSION!
return FeatureSet();
}
MzSpectrogramFFTW::FeatureSet
MzSpectrogramFFTW::process(AUDIODATA inputbufs, Vamp::RealTime timestamp) {
if (getChannelCount() <= 0) {
std::cerr << "ERROR: MzSpectrogramFFTW::process: "
<< "MzSpectrogramFFTW has not been initialized"
<< std::endl;
return FeatureSet();
}
// first window the input signal frame
windowSignal(mz_transformer, mz_wind_buff, inputbufs[0]);
// then calculate the complex DFT spectrum.
mz_transformer.doTransform();
// return the spectral magnitude frame to the host application:
FeatureSet returnFeatures;
Feature feature;
feature.hasTimestamp = false;
float magnitude;
for (int i=mz_minbin; i<=mz_maxbin; i++) {
magnitude = (float)mz_transformer.getSpectrumMagnitudeDb(i);
feature.values.push_back(magnitude);
}
returnFeatures[0].push_back(feature);
return returnFeatures;
}
Chordino::FeatureSet
Chordino::process(const float *const *inputBuffers, Vamp::RealTime timestamp)
{
if (debug_on) cerr << "--> process" << endl;
NNLSBase::baseProcess(inputBuffers, timestamp);
return FeatureSet();
}
MusicHackChord::FeatureSet
MusicHackChord::process(const float *const *inputBuffers, Vamp::RealTime timestamp)
{
// Do actual work!
int size = chromas[0].size();
for(int i = m_startPos; i < m_blockSize; i++)
{
for(int j = 0; j < NUM_BINS; j++)
{
if(size >= BUFFER_SIZE)
chromas[j].pop_front();
chromas[j].push_back(apBandPass(inputBuffers[0][i], j));
}
}
m_counter += m_stepSize;
if(m_counter >= BUFFER_SIZE)
{
float chromaOctaves[NUM_CHROMAS];
float correlations[2][NUM_CHROMAS];
memset(chromaOctaves, 0, sizeof(chromaOctaves));
memset(correlations, 0, sizeof(correlations));
for(int i = 0; i < NUM_BINS; i++)
{
float sum = 0;
for(int j = 0; j < chromas[j].size(); j++)
sum += chromas[i][j] * chromas[i][j];
chromaOctaves[i % NUM_CHROMAS] += sum;
}
float m = mean(chromaOctaves, NUM_CHROMAS);
for(int i = 0; i < NUM_CHROMAS; i++)
{
for(int j = 0; j < NUM_CHROMAS; j++)
{
correlations[0][i] += (chromaOctaves[j] - m) * (MAJOR[(j - i + NUM_CHROMAS) % NUM_CHROMAS] - MEAN_CHORD);
correlations[1][i] += (chromaOctaves[j] - m) * (MINOR[(j - i + NUM_CHROMAS) % NUM_CHROMAS] - MEAN_CHORD);
}
}
int majorMaxIndex = max(correlations[0], NUM_CHROMAS);
int minorMaxIndex = max(correlations[1], NUM_CHROMAS);
Feature f;
f.hasTimestamp = false;
if(correlations[0][majorMaxIndex] > correlations[1][minorMaxIndex])
f.values.push_back(majorMaxIndex);
else
f.values.push_back(minorMaxIndex + NUM_CHROMAS);
FeatureSet fs;
fs[0].push_back(f);
m_counter=0;
return fs;
}
return FeatureSet();
}
SpeechMusicSegmenter::FeatureSet
SpeechMusicSegmenter::process(const float *const *inputBuffers, Vamp::RealTime timestamp)
{
// Extracting ZCR per frame
size_t i = 1;
double zc = 0.0;
while (i < m_blockSize) {
if ((inputBuffers[0][i] * inputBuffers[0][i - 1]) < 0) zc += 1;
i += 1;
}
zc /= (m_blockSize - 1);
m_zcr.push_back(zc);
m_nframes += 1;
return FeatureSet();
}
TemporalCentroid::FeatureSet
TemporalCentroid::getRemainingFeatures()
{
Vamp::RealTime centroid_timestamp;
if (m_rms.empty()) // empty signal
centroid_timestamp = Vamp::RealTime::fromSeconds(0);
else
{
// Compute the temporal centroid
float max_rms = *(max_element(m_rms.begin(),m_rms.end())); // find the maximum RMS value
float rms_threshold = 0.15f * max_rms; // threshold for starting to compute temporal centroid, 15% of max RMS
int n1 = 0;
while (m_rms[n1] < rms_threshold) // find first frame where RMS > 15% of max RMS
n1++;
int n2 = (int)m_rms.size() - 1;
while (m_rms[n2] < rms_threshold)
n2--;
float sum_weighted_time = 0.0f;
float sum_rms = 0.0f;
for (int i=n1; i<=n2; i++)
{
sum_rms += m_rms[i];
sum_weighted_time += m_rms[i] * (m_timestamps[i].sec + (float)m_timestamps[i].nsec/1e9);
}
float temporalcentroid = sum_weighted_time / sum_rms;
centroid_timestamp = Vamp::RealTime::fromSeconds(temporalcentroid);
}
Feature f;
f.hasTimestamp = true;
f.timestamp = centroid_timestamp;
FeatureSet fs;
fs[0].push_back(f);
return fs;
return FeatureSet();
}
MyPlugin::FeatureSet
MyPlugin::getRemainingFeatures()
{
return FeatureSet();
}
MyPlugin::FeatureSet
MyPlugin::process(const float *const *inputBuffers, Vamp::RealTime timestamp)
{
// Do actual work!
return FeatureSet();
}
MusicHackChord::FeatureSet
MusicHackChord::getRemainingFeatures()
{
return FeatureSet();
}
SpectralCentroid::FeatureSet
SpectralCentroid::getRemainingFeatures()
{
return FeatureSet();
}
TonalChangeDetect::FeatureSet
TonalChangeDetect::process(const float *const *inputBuffers,
Vamp::RealTime timestamp)
{
if (!m_chromagram) {
cerr << "ERROR: TonalChangeDetect::process: "
<< "Chromagram has not been initialised"
<< endl;
return FeatureSet();
}
if (!m_haveOrigin) m_origin = timestamp;
// convert float* to double*
double *tempBuffer = new double[m_block];
for (size_t i = 0; i < m_block; ++i) {
tempBuffer[i] = inputBuffers[0][i];
}
double *output = m_chromagram->process(tempBuffer);
delete[] tempBuffer;
for (size_t i = 0; i < 12; i++)
{
m_vaCurrentVector[i] = output[i];
}
FeatureSet returnFeatures;
if (m_stepDelay == 0) {
m_vaCurrentVector.normalizeL1();
TCSVector tcsVector = m_TonalEstimator.transform2TCS(m_vaCurrentVector);
m_TCSGram.addTCSVector(tcsVector);
Feature feature;
feature.hasTimestamp = false;
for (int i = 0; i < 6; i++)
{
feature.values.push_back(static_cast<float>(tcsVector[i]));
}
feature.label = "";
returnFeatures[0].push_back(feature);
return returnFeatures;
}
if (m_pending.size() == m_stepDelay) {
ChromaVector v = m_pending.front();
v.normalizeL1();
TCSVector tcsVector = m_TonalEstimator.transform2TCS(v);
m_TCSGram.addTCSVector(tcsVector);
Feature feature;
feature.hasTimestamp = false;
for (int i = 0; i < 6; i++)
{
feature.values.push_back(static_cast<float>(tcsVector[i]));
}
feature.label = "";
returnFeatures[0].push_back(feature);
m_pending.pop();
} else {
returnFeatures[0].push_back(Feature());
m_TCSGram.addTCSVector(TCSVector());
}
m_pending.push(m_vaCurrentVector);
return returnFeatures;
}
MzSpectrogramFFTW::FeatureSet
MzSpectrogramFFTW::getRemainingFeatures(void) {
// no remaining features, so return a dummy feature
return FeatureSet();
}
/**
* @brief ÓÃÓÚ¼ì²âÊÇ·ñµÚÒ»´ÎʹÓÃÐÂоƬ£¬Ò²¾ÍÊDz鿴FLASHÀïÊÇ·ñ±£´æÓвÎÊý£¬Èç¹ûûÓÐÔòдÈëĬÈϲÎ
*
* @param reset:Èç¹ûΪfalseΪÕý³£¼ì²â£¬ÎªtrueÔòÇ¿ÖÆÖØвÁд
* @retval none
*/
void Flash_CheckFirstTime(bool reset)
{
uint8_t test_val, i;
test_val = *(uint8_t *) FLASH_WRITE_ADDR;
if (!reset && test_val == CHECKNEWCONF)
return;
// Default settings
cfg.version = CHECKNEWCONF;
cfg.mixerConfiguration = MULTITYPE_QUADX;
FeatureClearAll();
FeatureSet(FEATURE_MOTOR_STOP|FEATURE_FAILSAFE|FEATURE_GPS);
cfg.looptime = 0;
cfg.P8[ROLL] = 40;
cfg.I8[ROLL] = 30;
cfg.D8[ROLL] = 23;
cfg.P8[PITCH] = 40;
cfg.I8[PITCH] = 30;
cfg.D8[PITCH] = 23;
cfg.P8[YAW] = 85;
cfg.I8[YAW] = 45;
cfg.D8[YAW] = 0;
cfg.P8[PIDALT] = 16;
cfg.I8[PIDALT] = 15;
cfg.D8[PIDALT] = 7;
cfg.P8[PIDPOS] = 11; // POSHOLD_P * 100;
cfg.I8[PIDPOS] = 0; // POSHOLD_I * 100;
cfg.D8[PIDPOS] = 0;
cfg.P8[PIDPOSR] = 20; // POSHOLD_RATE_P * 10;
cfg.I8[PIDPOSR] = 8; // POSHOLD_RATE_I * 100;
cfg.D8[PIDPOSR] = 45; // POSHOLD_RATE_D * 1000;
cfg.P8[PIDNAVR] = 14; // NAV_P * 10;
cfg.I8[PIDNAVR] = 20; // NAV_I * 100;
cfg.D8[PIDNAVR] = 80; // NAV_D * 1000;
cfg.P8[PIDLEVEL] = 70;
cfg.I8[PIDLEVEL] = 10;
cfg.D8[PIDLEVEL] = 20;
cfg.P8[PIDMAG] = 40;
cfg.P8[PIDVEL] = 0;
cfg.I8[PIDVEL] = 0;
cfg.D8[PIDVEL] = 0;
cfg.rcRate8 = 90;
cfg.rcExpo8 = 65;
cfg.rollPitchRate = 0;
cfg.yawRate = 0;
cfg.dynThrPID = 0;
cfg.thrMid8 = 50;
cfg.thrExpo8 = 0;
for (i = 0; i < CHECKBOXITEMS; i++)
cfg.activate[i] = 0;
cfg.angleTrim[0] = 0;
cfg.angleTrim[1] = 0;
cfg.accZero[0] = 0;
cfg.accZero[1] = 0;
cfg.accZero[2] = 0;
cfg.mag_declination = -233; // For example, -6deg 37min, = -637 Japan, format is [sign]dddmm (degreesminutes) default is zero. ¹ãÖÝ´ÅÆ«½ÇΪ2¶È33·Ö
cfg.acc_hardware = ACC_MPU6050; //ÎÒÃÇĬÈÏÊÇÓÃMPU6050
cfg.acc_lpf_factor = 100;
cfg.gyro_cmpf_factor = 1500; // default MWC
cfg.gyro_lpf = 42;
cfg.mpu6050_scale = 1; // f**k invensense
cfg.gyro_smoothing_factor = 0x00141403; // default factors of 20, 20, 3 for R/P/Y
cfg.vbatscale = 110;
cfg.vbatmaxcellvoltage = 43;
cfg.vbatmincellvoltage = 33;
// Radio
ParseRcChannels("AETR1234");
cfg.deadband = 0;
cfg.yawdeadband = 0;
cfg.alt_hold_throttle_neutral = 20;
cfg.spektrum_hires = 0;
cfg.midrc = 1500;
cfg.mincheck = 1100;
cfg.maxcheck = 1900;
cfg.retarded_arm = 0; // disable arm/disarm on roll left/right
// Failsafe Variables
cfg.failsafe_delay = 200; // 0.1sec
cfg.failsafe_off_delay = 50; // 20sec
cfg.failsafe_throttle = 1200; // decent default which should always be below hover throttle for people.
// Motor/ESC/Servo
cfg.minthrottle = 1150;
cfg.maxthrottle = 2000;//1850
cfg.mincommand = 1000;
cfg.Vision_ErrorZero[0] = 0;
cfg.Vision_ErrorZero[1] = 0;
// servos
cfg.yaw_direction = 1;
cfg.tri_yaw_middle = 1500;
cfg.tri_yaw_min = 1020;
cfg.tri_yaw_max = 2000;
// gimbal
cfg.gimbal_pitch_gain = 10;
cfg.gimbal_roll_gain = 10;
cfg.gimbal_flags = GIMBAL_NORMAL;
cfg.gimbal_pitch_min = 1020;
cfg.gimbal_pitch_max = 2000;
cfg.gimbal_pitch_mid = 1500;
cfg.gimbal_roll_min = 1020;
cfg.gimbal_roll_max = 2000;
cfg.gimbal_roll_mid = 1500;
// gps/nav stuff
cfg.gps_baudrate = 115200;
cfg.gps_wp_radius = 200; //µ¥Î» cm
cfg.gps_lpf = 20;
cfg.nav_slew_rate = 30;
cfg.nav_controls_heading = 1;
cfg.nav_speed_min = 100;
cfg.nav_speed_max = 300; //3.0m/s
// serial(uart1) baudrate
cfg.serial_baudrate = 115200;
Flash_WriteParams(0);
}
MiniBpmVamp::FeatureSet
MiniBpmVamp::process(const float *const *inputBuffers, Vamp::RealTime timestamp)
{
m_mbpm->process(inputBuffers[0], m_blockSize);
return FeatureSet();
}